Даниил Грабарь
e182f5b7bd
- Updated gripper macros in gripper_macros.xacro to simplify parameters and add Gazebo support. - Removed unused mesh property in gripper_meshes.xacro. - Enhanced iiwa7 digital and FRI URDF files with simulation arguments and improved controller setup. - Added new launch files for Gazebo simulation and universal launch configuration. - Implemented YAML parameter wrapping for ROS2 in converter.py. - Introduced a new gz_bridge.yaml configuration for Gazebo to ROS2 topic mapping. - Cleaned up setting_loader.py and added necessary imports.
117 lines
3.5 KiB
Python
117 lines
3.5 KiB
Python
from launch import LaunchDescription
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from launch.actions import OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch.event_handlers import OnProcessExit
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from launch.actions import RegisterEventHandler
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from launch_ros.actions import Node
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from iiwa_utils import converter
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def _setup_controllers(context, *args, **kwargs):
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robot_name = LaunchConfiguration("robot_name").perform(context)
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description = LaunchConfiguration("description").perform(context)
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initial_positions_file = LaunchConfiguration("initial_positions_file").perform(context)
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controller_path = LaunchConfiguration("controller_path").perform(context)
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simulate = LaunchConfiguration("simulate").perform(context).lower() in ("true", "1", "yes")
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robot_description = converter.load_robot_description(
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model_path=description,
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robot_name=robot_name,
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xacro_args={"initial_positions_file": initial_positions_file},
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)
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# СИМУЛЯЦИЯ (Gazebo)
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if simulate:
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jsb = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=[
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"joint_state_broadcaster",
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"--controller-manager", "/controller_manager",
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"--controller-manager-timeout", "30",
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],
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parameters=[{"use_sim_time": True}],
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)
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jtc = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=[
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"iiwa_arm_controller",
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"--controller-manager", "/controller_manager",
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"--controller-manager-timeout", "30",
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],
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parameters=[{"use_sim_time": True}],
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)
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jtc_after_jsb = RegisterEventHandler(
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OnProcessExit(
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target_action=jsb,
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on_exit=[jtc],
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)
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)
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return [jsb, jtc_after_jsb]
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# РЕАЛЬНЫЙ РОБОТ (FRI)
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else:
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ros2_control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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output="screen",
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parameters=[
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{"robot_description": robot_description},
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controller_path,
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],
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)
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jsb = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=[
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"joint_state_broadcaster",
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"--controller-manager", "/controller_manager",
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],
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)
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jtc = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=[
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"iiwa_arm_controller",
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"--controller-manager", "/controller_manager",
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],
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)
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torque_controller = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=[
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"forward_torque_controller",
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"--controller-manager", "/controller_manager",
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"--inactive",
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],
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)
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jtc_after_jsb = RegisterEventHandler(
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OnProcessExit(
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target_action=jsb,
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on_exit=[jtc, torque_controller],
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)
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)
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return [
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ros2_control_node,
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jsb,
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jtc_after_jsb,
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]
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def generate_launch_description():
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return LaunchDescription([OpaqueFunction(function=_setup_controllers)]) |